Incorrect sdf file on saving with duplicated plugin

[osrf-migration]

Original report (archived issue) by Kunal Tyagi (Bitbucket: kunaltyagi).

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I created a plugin P in models A and B, with models A and B included in model C. The plugin has some customizable parameters and a link tag. Also, on editing the model in Gazebo model editor and saving it back. In the new sdf file,

• The sdf is the complete expanded sdf, not with <include><uri>...</uri></include>. Is this the expected behavior?
• The plugin P occurred in saved sdf only once. The saved file contained the information in the model included last. Maybe this is related to #734? IMO, proper handling of namespaces would(?) resolve this. (at least it should) Is there some progress on #734?
• I specified a parameter in plugin P which shared the same name as a link in model A. The sdf converted <name>base</name> to <name>model_c::base</name>. Can this be optionally prevented? (conversion of some link specified as parameter to relative address)

[osrf-migration]

Original comment by Louise Poubel (Bitbucket: chapulina, GitHub: chapulina).

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• That might not be the most intuitive behaviour, but that's how the <include> tag works. It expands the links and plugins of the included model into the parent model, and then the "inclusion" gets lost.

  A workaround would be to place the include tags inside model tags. You'll still lose the includes, but when the links are expanded, they're kept inside nested models. I checked here that a simple example keeps the plugins in place. Instead of directly including inside the parent model:

  <?xml version='1.0'?>
  <sdf version="1.6">
    <model name="nested_plugins">
      <include>
        <name>A</name>
        <uri>model://submarine_buoyant</uri>
      </include>
      <include>
        <name>B</name>
        <uri>model://submarine_buoyant</uri>
        <pose>0 -0.01 0.070 1.57 0 1.57</pose>
      </include>
    </model>
  </sdf>

  Wrap the includes in model tags:

  <?xml version='1.0'?>
  <sdf version="1.6">
    <model name="nested_plugins">
      <model name="A">
        <include>
          <name>A</name>
          <uri>model://submarine_buoyant</uri>
        </include>
      </model>
      <model name="B">
        <include>
          <name>B</name>
          <uri>model://submarine_buoyant</uri>
          <pose>0 -0.01 0.070 1.57 0 1.57</pose>
        </include>
      </model>
    </model>
  </sdf>

• Yes, it looks like the plugin namespaces for included models are not being properly handled. It sounds related to issue #734, although that looks more like a feature request to override plugin parameters. I would consider the bad namespace handling a bug.

• With the nested models approach above, entity names still get scoped, but plugin parameters seem to be kept intact. I don't think there's a way to revert it now. You could try using nested models without the include tags so you have full control of all names.

[osrf-migration]

Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• set version to "all"